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Download textbook Advances In Smart Vehicular Technology Transportation Communication And Applications Proceedings Of The First International Conference On Smart Vehicular Technology Transportation Communication A ebook all chapter pdf
Download textbook Advances In Smart Vehicular Technology Transportation Communication And Applications Proceedings Of The First International Conference On Smart Vehicular Technology Transportation Communication A ebook all chapter pdf
Technology, Transportation,
Communication and Applications:
Proceedings of the First International
Conference on Smart Vehicular
Technology, Transportation,
Communication and Applications,
November 6-8, 2017, Kaohsiung,
Taiwan 1st Edition Jeng-Shyang Pan
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Smart Innovation, Systems and Technologies 86
Jeng-Shyang Pan
Tsu-Yang Wu
Yong Zhao
Lakhmi C. Jain Editors
123
Smart Innovation, Systems and Technologies
Volume 86
Series editors
Robert James Howlett, Bournemouth University and KES International,
Shoreham-by-sea, UK
e-mail: rjhowlett@kesinternational.org
The Smart Innovation, Systems and Technologies book series encompasses the
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to KES quality principles.
Editors
123
Editors
Jeng-Shyang Pan Yong Zhao
Fujian University of Technology Superconductivity R&D Center
Fuzhou, Fujian Southwest Jiaotong University
China Chengdu, Sichuan
China
Tsu-Yang Wu
Fujian University of Technology Lakhmi C. Jain
Fuzhou, Fujian University of Canberra
China Canberra, ACT
Australia
v
Organization
Organizing Committee
Honorary Chairs
Conference Chairs
vii
viii Organization
Program Chairs
Publication Chairs
Finance Chair
Program Committees
xi
xii Contents
Abstract. There are many kinds of image processing application in the industry,
to improve better performance of producing, Automatic Guide vehicles (AGV)
solution have been driven in service, for instance, the expensive solution such as
light detection and ranging (LIDAR), magnetic tape guided and RFID are used. In
the industry which not only search for better delivery performance but also search
for economic efficiency. Here we present an economic efficiency solution, Easy i-
Move for AGVs guiding system to fulfill customers’ necessity. In this study, we
focus on color tape image recognition technology based on HSI color model. The
implementation of the system architecture and the technology of image recog-
nition in the proposed system are described and validated in this paper.
1 Introduction
There are many kinds of d Guide vehicles guiding solution, for instance, the light
detection and ranging (LIDAR), a remote sensing method used to examine the surface
of the earth, and magnetic tape guided are used. In the industry section which not only
search for better delivery performance but also search for economic efficiency. Usually,
manufacture working area reorganized from time to time. Working area reorganized
which caused a very much housekeeping job to do subsequently. When reorganization
occurs, the course needs to change. Therefore, we are trying to apply the color tape
image recognition AGVs guiding strategy to handle such situations. There are some
problems exist when we apply image recognition solution for AGVs guidance. We
have to solve (1) Image processing time must short enough for guiding car:
The most important things in the Automatic Guide Vehicles guiding system is
guiding response time. Car is running in real time, about 50 cm per second, image
recognition system must take a quick response to guiding control module, which
generates control instruction to AGV car. (2) Lighting noise proof: In the manufac-
turing there are a lot of lighting noise, such as the light from fluorescent, LED light
from instruments, sun light from outside etc., the image recognition algorithm not only
needs to quick response but also need to analyze the picture accurately.
Because of the previously stated concerns, this paper will propose an AGV system
using image recognition technology. We implement an AGVs system to verify this
solution.
The rest of this paper is organized as follows. In Sect. 2, the RGB and HSI color
model is introduced. In Sect. 3, the challenges of color tape image recognition solution
for AGV system will be discussed. In Sect. 4, the Image recognition strategy for AGV
is exploited. In Sect. 5 deployment of the new intelligent AGV system are presented.
We conclude the paper in Sect. 6.
Initially, We used the blue color tape as guiding line, that color distortion like this
causes a lot of trouble on image recognition, we can’t tell part the guiding line from
ground simply use R, G and B value from RGB color model, so we try HSI color
model solution [3].
brightness. Hue is a color attribute that describes a pure color (pure green, blue or red).
Saturation gives a measure of the degree to which a pure color is diluted by white light.
Intensity is key factor in describing color sensation. We convert RGB color space to HSI
color space by using the following formulas [4–6].
I ¼ ðR þ G þ BÞ 3
In c# language, we get RGB color attributes from a picture of each pixel though
GetPixel(x, y) method, which return R, G and B. We feed R, G, B value into above
formula then can get H, S, I value easily. The value of Hue varies from −180–180,
Saturation varies from 0–1, Intensity varies from 0–255, that gives much space to
justify pixel color. We will exploit more detail in the fourth section. The Challenges of
color tape image recognition solution for AGV system.
AGV car consists of a front end camera, image recognition module and driving control
unit. The front end camera captures the picture of course while running, image
recognition module analyzes the colored tape position and based on the color tape
position generates a direction calibration value or gives a reach the anchor point
instruction to drive the AGV car.
3.1 Challenges
The image recognition module plays the major game in driving AGV car, image
recognition module must give an accurate instruction for AGV car. There are
6 Y.-H. Kuo et al.
The Image recognition strategy for AGV System is based on color recognition of each
pixel [7]. The Image recognition process is shown as Fig. 2.
We get an image from camera, down resizing, read pixel color, telling object color
apart from others, identify the right object, finally, output control instructions. We get
the a picture from the camera consists of 640 480 pixels, if we used the raw picture
to do Image analyze processing, it takes about 195.07 ms per picture, it takes too much
time in processing the image analysis, it can’t meet the AGV running speed require-
ment, it must less than 50 ms per analysis operation, we down size the picture to
20 20 pixels, it takes about 0.51 ms per picture, in our system the average operation
time from take a picture to Image analyze and give an instruction to AGV car, it takes
2.08 ms from our 2002 sample pictures. The size of picture affected the Image analyze
processing time shown in Table 1.
Our system must function normally despite the fact that the manufacturing,
warehousing lighting noise. Furthermore, we want to maximize the system’s accuracy
as much as possible. Order to meet this requirement, we propose a HSI color model
technology based on tape color. The tape color could be affected by a wide range of
factors, such as fluorescent or LED color, the light from machine or equipment, and any
Easy i-Move 7
lighting source. Accordingly, an accurate and reliable algorithm for Image analysis, the
tape color must take into account the effects of these factors.
We exploit the detail of the image recognition algorithm, which we implement in our
system. In the experimental manufacture, there is yellow color tape already, so we use
yellow color for image recognition. After we captured a picture from end camera, we
down size the picture from 640 480 pixel to 20 20 pixel, the picture shown as Fig. 3.
Fig. 3. Picture down size before and after (Color figure online)
After the picture downsizing, it become blurred like the above right side picture,
although the image becomes blurred, it is still good for recognition, and the most
important is that the Image analyze processing time is short enough, so in the experiment
20 20 pixel is a good size for recognition. Based on Sect. 2.2 HSI color model
formula, we caught each H, S, and I value of pixel[x, y] and saved in Hue[x, y], Sat[x, y],
and Inten[x, y] array respectively. Here I draw 20 20 circle to represent the 20 20
pixel, as shown in Fig. 4.
In real environment only H, S, and I value is not enough to tell similar pixel
apart. Therefore, we propose additional HSI formula:
HSI ¼ H S I
We further multiple the H, S, and I value generate a much more range and unique
value to ensure color representation. With HSI model produces a representation of HSI,
H, S, and I value. The Hue values of yellow color are positive around 50–60. In this
example, we are lucky, we can tell the yellow color apart from Hue attribute as
function shown.
8 Y.-H. Kuo et al.
In some other complicated case we have to use more attributes to tell them apart, as
function shown.
On behalf of the above rules, we get rid of some light noise from environment
lighting or instruments light successfully.
Before we apply this solution in the system, we capture the whole course image at
the stable speed say 50 cm per second, there are more than 10,000 pictures, and
evaluated every misrecognized image carefully, then modify the parameters of
and functions to make function more accurately.
We get the image structure of Fig. 4 With and functions as
shown in Table 2.
Easy i-Move 9
From Table 2 we mapped with the yellow tape image as Fig. 5. We can get a
perfect pixel structure of yellow color matched with image picture.
At this point, we transfer the image picture to a structure of data table. How can we use
these data for the application of AGV system? From the yellow color position in the
20 20 structure, we can conduct the car to follow. Before we use the yellow line
10 Y.-H. Kuo et al.
position data, we have to make sure the image structure data is yellow line structure not
from light noise or something else. In my algorithm, after we got the line image
structure, we check the line length and line width first, if the line width great than 0
pixel and line length is great than 9 pixels, then we can sure it is a conduct line image,
which we can use to conduct the car. There is a rule of the guiding line as below
function.
Guiding line rules:
– Anchor line: line width > 16 and line length < 9; car is approaching the
workstation
– Guiding line type1: line width > 0 and line length > 9; guiding line is located at the
middle of picture
– Guiding line type2: line width > 0 and 3 < line length 9; guiding line is located
at the corner of picture
– Guiding line type3: line width > 0 and 0 < line length 3; guiding line is located
at the corner of picture.
From the above rules we identify the line type then we check the column position
of the guiding line at the top, based on the position of guiding line to give the direction
instruction. The guiding line can be set at the middle of lane or at the side of lane, the
rule of at the middle of lane is:
(1) Forward: 7 ≦ guiding line top position ≦ 13
(2) Left: 0 < guiding line top position < 7
(3) Right: 13 < guiding line top position
Next, we carried out experiments in a real environment to verify the usability of the
AGV system. Here, we implemented our system on a manufacture, which produces
geared motors in Taiwan. We use an AGV car with a front end camera, so this AGV is
implemented forwarding only, the driving instructions are send from recognition
module to AGV control unit through USB port, the control unit is an Arduino module
[8–10]. In the manufacture there are 15 Assembly stations in the manufacture, with a
single route length of 180 m, about 6 min per circle. To investigate the performance of
the proposed AGV system, we use the real manufacture lay out road map in the
experiments.
Initially, AGV car is parked at the AGV parking lot, user asks AGV car to deliver
products or materials from any assembly station to any station. After the car finish the
delivery job, which will go back to parking lots, and check is there any job waiting for it.
6 Conclusions
In this experiment we take care of the Image processing time to meet the system
requirement which around 0.5 ms on our platform. We also get rid of the lighting noise
from outside to make the AGV system work in manufactory. There are many kinds of
image recognition approach and application, some of further research applies machine
learning or deep learning with image recognition technology to enhance image
recognition system to specific domain application. Furthermore, image processing can
Easy i-Move 11
be applied to many domain usages such as: satellite imagery, medical image, photo
reconstruction, Automatic identification, defect detection, face discrimination, virtual
reality, there are different domain knowledge inside. Here we have demonstrated the
feasibility and usability of the proposed AGV system. After further investigation of
image recognition solution performance, it will be possible to redesign the system
architecture to more secure traffic control system. Many more new applications will
then be developed in the near future.
References
1. Emgu CV Essentials. Packt Publishing, 14 November 2013
2. Emgu.CV.example CameraCapture. http://me1237guy.pixnet.net/blog/post/61361335
3. Converting from RGB to HSV. http://coecsl.ece.illinois.edu/ge423/spring05/group8/final
project/hsv_writeup.pdf
4. Video color conversion. Introduction to Automotive Electronic Systems pdf. http://140.117.
156.238/course/IAE/2013/
5. Gonzalez, R.C., Woods, R.E.: Digital Image Processing, 3rd edn. Prentice Hall, Upper
Saddle River (2008)
6. Setting up Emgu CV Project with Visual Studio. https://notebookbft.wordpress.com/2015/
03/08/setting-up-emgu-cv-project-with-visual-studio/
7. The Principle of Image Processing Technology and Application. http://web.ncyu.edu.tw/*
lanjc/lesson/C9/class/11.pdf
8. Arduino Mini USB Adapter. http://elesson.tc.edu.tw/md221/pluginfile.php/4151/mod_
resource/content/1/arduino.pdf
9. Online electricity knowledge. http://bbs.audiohall.net/viewtopic.php?t=1337&sid=999
10. http://elesson.tc.edu.tw/md221/pluginfile.php/4151/mod_resource/content/1/arduino.pdf
Evaluating Multi-dimensional Abilities
of Bus Drivers
Abstract. As professional drivers typically were driving more time on the road
than general drivers, the relationship between age and multi-dimensional driving
abilities of bus drivers should be of concern to transportation officials tasked
with improving workplace safety. This study examined the multi-dimensional
abilities of bus drivers through their responses to a self-assessment questionnaire
and on tests of hand-eye coordination, balance ability and hand grip strength.
Among sixteen participants recruited from an urban bus company, gender and
age significantly correlated with self-rating evaluation, hand-eye coordination
tests and grip strength capabilities. Recommended of this study were conducted
the self-rating evaluation, hand-eye coordination, balance ability and hand grip
strength in the process of licensing exams test to assess driving qualification,
renew driving license particularly. Bus drivers should also regularly take these
ability tests to assess their driving quality and ability. In this way, an employer
can accurately assess drivers’ multi-dimensional abilities and verify whether
they meet the demands of their jobs.
1 Introduction
Driving is the primary mode of transportation in many countries and the driving ability
is intimately associated with health-related quality of life [1]. Further, driving is one of
the most complex tasks that humans perform on a regular basis, placing significant
demands on sensory, perceptual, cognitive, and motor capabilities. However,
age-related declines in these capabilities negatively affect driving performance [2].
Several eye diseases that including glaucoma have been associated with increased risk
for motor vehicle accidents [3]. With an aging population, it is estimated that over 58
million people will have open angle glaucoma by the year 2020. Although it is clear
that vision is essential for driving, it is not clear what vision skills and tests are actually
more closely related to the ability of driving safely [4]. Gentzler and Smither [5] have
© Springer International Publishing AG 2018
J.-S. Pan et al. (eds.), Advances in Smart Vehicular Technology, Transportation,
Communication and Applications, Smart Innovation, Systems and Technologies 86,
https://doi.org/10.1007/978-3-319-70730-3_2
Evaluating Multi-dimensional Abilities of Bus Drivers 13
developed test batteries to identify at-risk older drivers. Wood et al. [6] reported that
age-related changes in sensory abilities, such as visual impairment, can potentially
influence the ability to perform visual tasks and simultaneous dual tasks not directly
related to vision. Indices of unsafe driving performance, including increased crash risk
and impaired on-road driving performance, have been reported in older drivers with
cataracts and in those drivers with reductions in specific visual functions including
visual fields, motion sensitivity, contrast sensitivity and visual attention [7].
In Taiwan, in addition to measurements of cognitive abilities and motor skills, a
physical examination is required when drivers apply for an occupational license, and it
includes an evaluation of visual abilities (visual acuity, visual field, and night vision),
heart functioning and blood pressure. Drivers younger than 60 years are required to
retake the physical examination every three years to maintain license validity while
those 60 years and older need to be re-examined every year. However, cognitive
abilities and motor skills of professional drivers are not re-examined as part of the
license renewal process in either age group.
Gentzler and Smither [5] have used various criteria to assess driving performance,
including (1) the selective and divided attention abilities, processing speed, memory,
accuracy, reaction time as cognitive functions; (2) the range of motion, strength in the
extremities such as the foot, mobility as physical functions and (3) static visual acuity,
contrast sensitivity, visual field, visuospatial ability, dynamic acuity, useful field of
view as visual function. Professional drivers were usually driving more time on the
road than general drivers. The purpose of the present study was to examine the
multi-dimensional abilities of professional bus drivers using self-assessment tests,
hand-eye coordination tests and grip strength and balance ability test. In addition, the
study wanted to establish appropriate assessment mechanisms to promote safer driving
and, thus, safer roadways.
2 Methods
2.1 Participants
This study recruited sixteen bus drivers that f including 10 males and 6 females from an
urban bus company in Taipei city. The mean age of the male drivers was 46 years old,
the mean height was 170.5 ± 6.5 cm, and the mean weight was 73.9 ± 8.8 kg. The
mean age of the female drivers was 43 years old, the mean height was 159.5 ± 2.1 cm,
and the mean weight was 63.9 ± 10.4 kg.
3 Results
3.1 The Self-rating Analysis
The mean scores of AAA self-rating form among gender and age showed in Table 1.
Mean scores of self-rating is higher in male drivers (26.8) than in female drivers (12.8).
From interpretation of score denoted that the lower score (0 to 15) is the safer driver,
and female drivers are fine status. Furthermore, Table 2 revealed the decision condition
of drivers’ ability based AAA self-rating form. There are five and four male drivers in
caution and unsafe condition and three female drivers in caution condition, respec-
tively. Drivers are engaging in some practices that need improvement to ensure safety.
16 T.-A. Kuo et al.
These drivers should be re-education for driving safety. There are 33% male drivers
really upset affecting their driving, and less half male drivers always get eye exams and
check the medications affecting their driving ability. Administrative staff should be
noticed the drivers beginning to experience some natural age-related changes and
drivers adjust their driving habits to keep driving safely. Checking visual ability reg-
ularly and consulting for taking medications or drugs could be provided in company.
Table 1. The mean scores of AAA self-rating form among gender and age
Variables Mean Standard Min Max
deviation
Gender Male 26.8 15.6 5 60
Female 12.8 9.5 0 27
Age <30 32.5 7.7 27 38
31–54 24.0 18.1 3 70
>55 11.0 9.8 0 22
Table 2. Meaning of scores based on self-rating form among gender and age
Gender Age
Levels Scores Decision Male Female 30 31–54 55
Level 1 safe driving 0 to15 Qualified 2 4 0 4 2
Level 2 caution 16 to 34 Unqualified 5 3 1 5 2
Level 3 unsafe driving 35 and over Unqualified 4 0 1 3 0